PI E-727 User Manual

User Manual
E727T0005, valid for E-727
BRO, 2019-06-28
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 174 / 240
Phone +49 721 4846-0, Fax +49 721 4846-1019, Email info@pi.ws, www.pi.ws
Homing is started using bit 4 of the control word (p. 170). Start options:
 Start axes individually, one after the other. Requirement: The current homing
procedure must be finished before the homing procedure for the next axis can be
started.
 Start multiple axes at the same time. Requirements: Bit 4 of the control word must
be set to 1 for all axes, and the settings must be sent to the E-727 within one cycle.
Homing is stopped using bit 8 of the control word. To start homing again, bit 4 has to be toggled.
Homing-mode specific bits of the control word:
Bit Name Value Desciption
4 Homing operation start 0  1 Start homing
8 Halt 0
1
Homing mode active
Stop axis with profile deceleration
The status word (p. 172) shows the success of the homing procedure:
 Homing successful: Bit 12 is set
 Homing not successful: Bit 13 is set
Homing-mode specific bits of the status word:
Bit Name Value Desciption
10 Target reached 0 Halt = 0: Home position not reached
Halt = 1: Axis decelerates
1 Halt = 0: Home position reached
Halt = 1: Axis has velocity 0
12 Homing attained 0 Homing mode not yet completed
1 Homing mode carried out successfully
13 Homing error 0 No homing error
1 Homing error occurred
Homing mode carried out not successfully
The error cause can be found by reading the error code
Profile Position Mode
In Profile Position mode, an axis performs motions to absolute target positions. The dynamics
profile is calculated by the E-727 based on target position and profile velocity given by the
EtherCAT master.
Supported objects (per axis):
Index* Name
0x6040
Control word
0x6041 Status word
0x6060
Modes of operation
0x6061 Modes of operation display

PI E-727 Specifications

General

Brand	PI
Model	E-727
Category	Controller
Language	English